Implementation of a route planner based on ACS for static two-dimensional environments using ROS

• Esther de S. Araújo UEFS
• Anfranserai M. Dias UEFS

DOI: https://doi.org/10.5753/erbase.2024.4515

Abstract

The present work describes the implementation of a route planner using artificial intelligence, aiming to automate the process of defining and executing a trajectory in a static two-dimensional environment. The route planner was applied to a robot using the Robot Operating System development environment, enabling its navigation process in an obstacle-filled environment. This work addresses aspects related to the use of the Ant Colony System algorithm for route planning, based on a Voronoi Graph, and the adaptation and implementation of this method within the ROS framework.

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